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/**
 * @file rtl_mission_fast_reverse.h
 *
 * Helper class for RTL
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#pragma once

#include "rtl_base.h"

#include <uORB/Subscription.hpp>
#include <uORB/topics/home_position.h>
#include <uORB/topics/rtl_time_estimate.h>

class Navigator;

class RtlMissionFastReverse : public RtlBase
{
public:
	RtlMissionFastReverse(Navigator *navigator, mission_s mission);
	~RtlMissionFastReverse() = default;

	void on_activation() override;
	void on_active() override;
	void on_inactive() override;
	void on_inactivation() override;

	bool isLanding() override {return _in_landing_phase;};

	rtl_time_estimate_s calc_rtl_time_estimate() override;

private:
	bool setNextMissionItem() override;
	void setActiveMissionItems() override;
	void handleLanding(WorkItemType &new_work_item_type);

	int32_t _mission_index_prior_rtl{INT32_C(-1)};

	bool _in_landing_phase{false};

	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
	DEFINE_PARAMETERS_CUSTOM_PARENT(
		RtlBase,
		(ParamInt<px4::params::RTL_PLD_MD>)       _param_rtl_pld_md
	)
};
